António Bernardo Ferreira

Abstract
This paper presents the results from search and rescue missions performed with the aerial robot OTUS in the the context of the ISEP/INESC TEC aerial robotics team participation on the euRathlon 2015 robotics competition. The multi-domain (land, sea and air) search and rescue scenario is described and technical solution adopted is presented with emphasis on the perception system. The calibration of the image based system is addressed. Results from the operational missions performed are also discussed. The aerial autonomous vehicle was able to successfully perform multiple tasks from the aerial reconnaissance and 3D mapping to the identification of leaking pipes, obstructed passages and missing workers. The system was validated a realistic operational scenario and won the Grand Challenge in cooperation with land and marine robotics partner teams. This challenge was the first time that a real time collaborative team of aerial, land and marine robots was deployed successfully in a search and rescue mission. © 2018 Springer Science+Business Media B.V., part of Springer Nature

Abstract

Abstract

Abstract

Abstract
The planning of mining operations in water filled open-pit mines requires detailed bathymetry to create a mine plan and assess the involved risks. This paper presents postprocessing techniques for creating an improved 3D model from a survey carried out using an autonomous surface vehicle with a multibeam sonar and a GPS/INS navigation system. Inconsistencies of the created point cloud as a result of calibration errors or GPS signal loss are corrected using a continuous-time simultaneous localization and mapping (SLAM) solution. Signed distance function (SDF) based mapping is employed to fuse the measurements from multiple runs into a consistent representation and reduce sensor noise. From the signed distance function model we reconstruct a 3D surface mesh. We use this terrain model to establish a virtual reality scene for immersive data visualization of the mining operations for testing and planing during development. Results of the proposed approach are demonstrated on a dataset captured in an abandoned submerged inland mine. © 2017